Related papers: Extended Set-based Tasks for Multi-task Execution …
Implementing a component-based system in a distributed way so that it ensures some global constraints is a challenging problem. We consider here abstract specifications consisting of a composition of components and a controller given in the…
Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…
We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…
Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…
Embedded hard real time systems require substantial amount of emergency processing power for the management of large scale systems like a nuclear power plant under the threat of an earth quake or a future transport systems under a peril. In…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
This paper investigates co-scheduling algorithms for processing a set of parallel applications. Instead of executing each application one by one, using a maximum degree of parallelism for each of them, we aim at scheduling several…
Solving real-world manipulation tasks requires robots to have a repertoire of skills applicable to a wide range of circumstances. When using learning-based methods to acquire such skills, the key challenge is to obtain training data that…
In situations involving teams of diverse robots, assigning appropriate roles to each robot and evaluating their performance is crucial. These roles define the specific characteristics of a robot within a given context. The stream actions…
The safe operation of an autonomous system is a complex endeavor, one pivotal element being its decision-making. Decision-making logic can formally be analyzed using model checking or other formal verification approaches. Yet, the…
Reliable and effective multi-task learning is a prerequisite for the development of robotic agents that can quickly learn to accomplish related, everyday tasks. However, in the reinforcement learning domain, multi-task learning has not…
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
Endowing robots with the human ability to learn a growing set of skills over the course of a lifetime as opposed to mastering single tasks is an open problem in robot learning. While multi-task learning approaches have been proposed to…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
We seek methods to model, control, and analyze robot teams performing environmental monitoring tasks. During environmental monitoring, the goal is to have teams of robots collect various data throughout a fixed region for extended periods…
In Real-time system, utilization based schedulability test is a common approach to determine whether or not tasks can be admitted without violating deadline requirements. The exact problem has previously been proven intractable even upon…
Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…